Is the robot allowed to use two cameras?

FIRST General Forum
1

Is the robot allowed to use two cameras?

2

The C-Rio only allows for 1 extra Ethernet cable other than the one for the wireless bridge.

The wireless bridge plugs in to the Ethernet port #1 on the Crio.
The KOP camera plugs directly into the Ethernet port #2 on the Crio.

I dont think you can plug another camera in to the Crio unless you do as other posts have mentioned and use a small laptop on the robot.

I searched the manual for camera rules and all i could find were:

“The chassis for the cRIO-FRC and the supplied KOP camera have grounded
enclosures. Under this rule (and for their protection), it is required that they be
electrically isolated from the ROBOT frame when installed on the ROBOT.”

and

“<R64> Any decorations that involve broadcasting a signal to/from the ROBOT, such as remote
cameras, must be cleared with FIRST Engineering (via e-mail to [email protected]) prior
to the event and tested for communications interference at the venue. Such devices, if
reviewed and approved, are excluded from Rule <R52>.”

I would take your question to the FRC Q&A, check the Posts there to see if anyone has already asked this question.

3

Would it be possible and legal to add a hub that splits the #2 Ethernet port?

4

I would think its legal as you may use custom circuits/COTS items on the robot. For an official answer however i would ask the FRC Official Q&A.

<R50> Connections to the cRIO-FRC Ethernet ports must be compliant with the following parameters:
A. The DAP-1522 radio is connected to the cRIO-FRC Ethernet port 1 (either directly or via a CAT5 Ethernet pigtail).

B. Ethernet-connected COTS devices or custom circuits may connect to either cRIO-FRC Ethernet port; however, these devices may not transmit or receive UDP packets using ports 1100-1200 except for ports 1130 and 1140.

5

Part B clearly states you can use the hub on the ratio, consider the camera an Ethernet-connected COTS device, and communicate via the first Ethernet port (as long as you don’t use the restricted ports).

6

Both of these seem to dominate the answer…
<R50> Connections to the cRIO-FRC Ethernet ports must be compliant with the following parameters:
A. The DAP-1522 radio is connected to the cRIO-FRC Ethernet port 1 (either directly or via a CAT5 Ethernet pigtail).
B. Ethernet-connected COTS devices or custom circuits may connect to either cRIO-FRC Ethernet port; however, these devices may not transmit or receive UDP packets using ports 1100-1200 except for ports 1130 and 1140.

And…
<R62> All outputs from sensors, custom circuits and additional electronics shall connect to only the following:
A. other custom circuits, or
B. additional COTS electronics, or
C. input ports on the Digital Sidecar, or
D. input ports on the Analog Breakout, or
E. the RS-232 DB-9 RS-232 port on the cRIO-FRC, or
F. the Ethernet network connected to either Port 1 or Port 2 of the cRIO-FRC, or
G. the CAN-bus if and only if all Jaguar speed controllers on the CAN-bus are wired in full compliance with Rule <R58> and Rule <R59>, or
H. the sensor inputs on the Jaguar speed controller

Custom circuits and additional electronics are allowed to utilize the Port 2 Ethernet bus and/or the CAN-bus to communicate between devices. Note however, that the ROBOT must be controlled by the cRIO-FRC (see Rule <R49>). Thus, any additional devices on the Ethernet or CAN-bus must not provide command signals that do not originate from the cRIO-FRC It is our intent to incrementally open access to the full control system technologies in a controlled manner that reduces the risk of “unanticipated surprises” as we gain experience with the system.

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